Volume 43 Issue 4
Jul.  2023
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Article Navigation >  Chinese Journal of Space Science  > 2023  >  43(4): 758-767 Open Access
WU Taotao, SONG Xiaojuan, LÜ Shufeng. Research on Attitude Maneuver and Vibration of Liquid-filled Flexible Spacecraft Based on Terminal Sliding Mode Control (in Chinese). Chinese Journal of Space Science, 2023, 43(4): 758-767 doi: 10.11728/cjss2023.04.2022-0038
Citation: WU Taotao, SONG Xiaojuan, LÜ Shufeng. Research on Attitude Maneuver and Vibration of Liquid-filled Flexible Spacecraft Based on Terminal Sliding Mode Control (in Chinese). Chinese Journal of Space Science, 2023, 43(4): 758-767 doi: 10.11728/cjss2023.04.2022-0038
shu

Research on Attitude Maneuver and Vibration of Liquid-filled Flexible Spacecraft Based on Terminal Sliding Mode Control

doi: 10.11728/cjss2023.04.2022-0038 cstr: 32142.14.cjss2023.04.2022-0038
  • 1.

    College of Mechanical Engineering, Inner Mongolia University of Technology, Hohhot 010051

  • 2.

    Inner Mongolia Autonomous Region Key Laboratory of Special Service Intelligent Robot, Hohhot 010051

  • 3.

    College of Science, Inner Mongolia University of Technology, Hohhot 010051

  • Received Date: 2022-08-09
  • Accepted Date: 2023-06-25
  • Rev Recd Date: 2023-02-22
    • Available Online: 2023-06-25
    Abstract
  • In this paper, the attitude control of rigid-liquid-flexible multi-body coupling spacecraft with unknown external disturbances and uncertain inertia parameters is studied, and an attitude maneuver control method based on disturbance observer and fuzzy terminal sliding mode control is proposed. The sloshing of liquid fuel in the spacecraft is equivalent to a spherical pendulum model, and the flexible appendages are assumed to be an Euler-Bernoulli beam. The coupled dynamic equation of the liquid-filled flexible spacecraft is derived by using the Lagrange method. First of all, the interference from space, the parameter uncertainty of the moment of inertia of the spacecraft, the coupling interference caused by the liquid sloshing and the vibration of flexible accessories are summed up as lumped interference. Design disturbance observer to compensate and estimate the lumped disturbance of the system. Then, based on the designed disturbance observer, a fuzzy terminal sliding mode control law is presented, and it is proved that the state of the closed-loop system is finite-time stable under the control law, and converges to the specified terminal sliding mode surface. The fuzzy terminal sliding mode control law uses fuzzy control to improve the switching gain based on the traditional terminal sliding mode control to achieve the purpose of suppressing system jitter. This optimization method can not only reduce the complexity of terminal sliding mode control method, but also reduce the difficulty of debugging parameters because it does not introduce new functions. The numerical simulation results show that the designed fuzzy terminal sliding mode control law can not only achieve the finite-time stability of the closed-loop attitude control system of the liquid-filled flexible spacecraft, but also effectively suppress the liquid sloshing and the vibration of the flexible appendages. At the same time, it has good robustness to disturbances caused by external disturbances and parameter uncertainties, and has better control performance.

     

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